# # 启动 PX4 SITL 模拟器
# gnome-terminal -- bash -c "export PX4_SIM_HOST_ADDR=192.168.16.25;cd /home/nvidia/demo_ws/PX4-Autopilot/Tools; ./sitl_multiple_run.sh 3; exec bash"

# # 启动 MAVROS 节点
# gnome-terminal -- bash -c "export PX4_SIM_HOST_ADDR=192.168.16.25;source /opt/ros/foxy/setup.bash; ros2 run mavros mavros_node  --remap __ns:=/drone_0 --ros-args -p fcu_url:=udp://:14540@localhost:14580 -p tgt_system:=1 -p gcs_url:=udp://@192.168.16.191; exec bash"
# gnome-terminal -- bash -c "export PX4_SIM_HOST_ADDR=192.168.16.25;source /opt/ros/foxy/setup.bash; ros2 run mavros mavros_node --remap __ns:=/drone_1 --ros-args -p fcu_url:=udp://:14541@localhost:14581 -p tgt_system:=2; -p gcs_url:=udp://@192.168.16.191;exec bash"
# gnome-terminal -- bash -c "export PX4_SIM_HOST_ADDR=192.168.16.25;source /opt/ros/foxy/setup.bash; ros2 run mavros mavros_node --remap __ns:=/drone_2 --ros-args -p fcu_url:=udp://:14542@localhost:14582 -p tgt_system:=3 ; -p gcs_url:=udp://@192.168.16.191; exec bash"



gnome-terminal -- bash -c "source /opt/ros/foxy/setup.bash;source /home/nvidia/soft_simulate/install/setup.bash;ros2 launch udp_gps_forwarder udp_gps_forwarder_launch.py; exec bash"
